Hello, I am a student who is trying to apply Slam in the ROS1 Noetic Gazebo environment. The selected package is hdlgraphslam.

The following problems occur when running the hdlgraphslam launch file after running the gazebo launch file with the mobile robot and the virtual environment.

kimjaen@kimjaen:~/vuasrl_ws$ roslaunch hdl_graph_slam hdl_graph_slam_custom.launch 

... logging to /home/kimjaen/.ros/log/311f2498-23d0-11ee-a1a2-8b62b0422290/roslaunch-kimjaen-126774.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:46287/

SUMMARY

PARAMETERS * /hdlgraphslamnodelet/accumdistancethresh: 35.0 * /hdlgraphslamnodelet/conststddevq: 0.1 * /hdlgraphslamnodelet/conststddevx: 0.5 * /hdlgraphslamnodelet/distancethresh: 20.0 * /hdlgraphslamnodelet/enablegps: False * /hdlgraphslamnodelet/enableimuacceleration: False * /hdlgraphslamnodelet/enableimuorientation: False * /hdlgraphslamnodelet/fitnessscorethresh: 0.5 * /hdlgraphslamnodelet/fixfirstnode: True * /hdlgraphslamnodelet/fixfirstnodeadaptive: True * /hdlgraphslamnodelet/fixfirstnodestddev: 10 10 10 1 1 1 * /hdlgraphslamnodelet/flooredgerobustkernel: NONE * /hdlgraphslamnodelet/flooredgestddev: 10.0 * /hdlgraphslamnodelet/g2osolvernumiterations: 512 * /hdlgraphslamnodelet/g2osolvertype: lmvarcholmod * /hdlgraphslamnodelet/gpsedgerobustkernel: NONE * /hdlgraphslamnodelet/gpsedgerobustkernelsize: 1.0 * /hdlgraphslamnodelet/gpsedgestddevxy: 20.0 * /hdlgraphslamnodelet/gpsedgestddevz: 5.0 * /hdlgraphslamnodelet/graphupdateinterval: 3.0 * /hdlgraphslamnodelet/imuaccelerationedgerobustkernel: NONE * /hdlgraphslamnodelet/imuaccelerationedgestddev: 1.0 * /hdlgraphslamnodelet/imuorientationedgerobustkernel: NONE * /hdlgraphslamnodelet/imuorientationedgestddev: 1.0 * /hdlgraphslamnodelet/keyframedeltaangle: 2.0 * /hdlgraphslamnodelet/keyframedeltatrans: 2.0 * /hdlgraphslamnodelet/loopclosureedgerobustkernel: Huber * /hdlgraphslamnodelet/loopclosureedgerobustkernelsize: 1.0 * /hdlgraphslamnodelet/mapcloudresolution: 0.05 * /hdlgraphslamnodelet/mapcloudupdateinterval: 10.0 * /hdlgraphslamnodelet/mapframeid: map * /hdlgraphslamnodelet/maxkeyframesperupdate: 10 * /hdlgraphslamnodelet/maxstddevq: 0.2 * /hdlgraphslamnodelet/maxstddevx: 5.0 * /hdlgraphslamnodelet/minedgeinterval: 5.0 * /hdlgraphslamnodelet/minstddevq: 0.05 * /hdlgraphslamnodelet/minstddevx: 0.1 * /hdlgraphslamnodelet/odomframeid: odom * /hdlgraphslamnodelet/odometryedgerobustkernel: NONE * /hdlgraphslamnodelet/odometryedgerobustkernelsize: 1.0 * /hdlgraphslamnodelet/pointstopic: /oscloudnode/po... * /hdlgraphslamnodelet/publishedodomtopic: hdl/odom * /hdlgraphslamnodelet/regcorrespondencerandomness: 20 * /hdlgraphslamnodelet/regmaxcorrespondencedistance: 2.5 * /hdlgraphslamnodelet/regmaxoptimizeriterations: 20 * /hdlgraphslamnodelet/regmaximumiterations: 64 * /hdlgraphslamnodelet/regnnsearchmethod: DIRECT7 * /hdlgraphslamnodelet/regnumthreads: 4 * /hdlgraphslamnodelet/regresolution: 1.0 * /hdlgraphslamnodelet/regtransformationepsilon: 0.01 * /hdlgraphslamnodelet/regusereciprocalcorrespondences: False * /hdlgraphslamnodelet/registrationmethod: FASTGICP * /hdlgraphslamnodelet/useconstinfmatrix: False * /hdlgraphslamnodelet/vargaina: 20.0 * /map2odompublisher/mapframeid: map * /map2odompublisher/odomframeid: odom * /prefilteringnodelet/baselinkframe: baselink * /prefilteringnodelet/distancefarthresh: 1000.0 * /prefilteringnodelet/distancenearthresh: 0.1 * /prefilteringnodelet/downsamplemethod: VOXELGRID * /prefilteringnodelet/downsampleresolution: 0.1 * /prefilteringnodelet/outlierremovalmethod: NONE * /prefilteringnodelet/radiusminneighbors: 2 * /prefilteringnodelet/radiusradius: 0.5 * /prefilteringnodelet/statisticalmeank: 30 * /prefilteringnodelet/statisticalstddev: 1.2 * /prefilteringnodelet/usedistancefilter: False * /rosdistro: noetic * /rosversion: 1.16.0 * /scanmatchingodometrynodelet/downsamplemethod: NONE * /scanmatchingodometrynodelet/downsampleresolution: 0.1 * /scanmatchingodometrynodelet/enablerobotodometryinitguess: False * /scanmatchingodometrynodelet/keyframedeltaangle: 1.0 * /scanmatchingodometrynodelet/keyframedeltatime: 10000.0 * /scanmatchingodometrynodelet/keyframedeltatrans: 1.0 * /scanmatchingodometrynodelet/maxacceptableangle: 1.0 * /scanmatchingodometrynodelet/maxacceptabletrans: 1.0 * /scanmatchingodometrynodelet/odomframeid: odom * /scanmatchingodometrynodelet/pointstopic: /oscloudnode/po... * /scanmatchingodometrynodelet/publishedodomtopic: hdl/odom * /scanmatchingodometrynodelet/regcorrespondencerandomness: 20 * /scanmatchingodometrynodelet/regmaxcorrespondencedistance: 2.5 * /scanmatchingodometrynodelet/regmaxoptimizeriterations: 20 * /scanmatchingodometrynodelet/regmaximumiterations: 64 * /scanmatchingodometrynodelet/regnnsearchmethod: DIRECT7 * /scanmatchingodometrynodelet/regnumthreads: 0 * /scanmatchingodometrynodelet/regresolution: 1.0 * /scanmatchingodometrynodelet/regtransformationepsilon: 0.01 * /scanmatchingodometrynodelet/regusereciprocalcorrespondences: False * /scanmatchingodometrynodelet/registrationmethod: NDTOMP * /scanmatchingodometrynodelet/robotodomframeid: robotodom * /scanmatchingodometrynodelet/transformthresholding: False

NODES / hdlgraphslamnodelet (nodelet/nodelet) lidar2basepublisher (tf/statictransformpublisher) map2odompublisher (hdlgraphslam/map2odompublisher.py) prefilteringnodelet (nodelet/nodelet) scanmatchingodometrynodelet (nodelet/nodelet) velodynenodeletmanager (nodelet/nodelet)

ROSMASTERURI=http://localhost:11311

process[lidar2basepublisher-1]: started with pid [126798] process[velodynenodeletmanager-2]: started with pid [126799] process[prefilteringnodelet-3]: started with pid [126800] process[scanmatchingodometrynodelet-4]: started with pid [126802] process[hdlgraphslamnodelet-5]: started with pid [126807] process[map2odompublisher-6]: started with pid [126808] [ INFO] [1689510363.386528770]: Initializing nodelet with 8 worker threads. construct solver: lmvar_cholmod

Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1

done registration: FASTGICP downsample: NONE registration: NDTOMP DIRECT7 1 (0 threads) downsample: VOXELGRID 0.1 outlierremoval: NONE failed to find transform between baselink and ousterlink terminate called after throwing an instance of 'tf2::LookupException' what(): "ousterlink" passed to lookupTransform argument sourceframe does not exist. [velodynenodeletmanager-2] process has died [pid 126799, exit code -6, cmd /opt/ros/noetic/lib/nodelet/nodelet manager _name:=velodynenodeletmanager _log:=/home/kimjaen/.ros/log/311f2498-23d0-11ee-a1a2-8b62b0422290/velodynenodeletmanager-2.log]. log file: /home/kimjaen/.ros/log/311f2498-23d0-11ee-a1a2-8b62b0422290/velodynenodeletmanager-2*.log [prefilteringnodelet-3] process has finished cleanly log file: /home/kimjaen/.ros/log/311f2498-23d0-11ee-a1a2-8b62b0422290/prefilteringnodelet-3*.log [scanmatchingodometrynodelet-4] process has finished cleanly log file: /home/kimjaen/.ros/log/311f2498-23d0-11ee-a1a2-8b62b0422290/scanmatchingodometrynodelet-4*.log [hdlgraphslamnodelet-5] process has finished cleanly log file: /home/kimjaen/.ros/log/311f2498-23d0-11ee-a1a2-8b62b0422290/hdlgraphslamnodelet-5*.log ^C[map2odompublisher-6] killing on exit [lidar2basepublisher-1] killing on exit Traceback (most recent call last): File "/home/kimjaen/vuasrlws/devel/lib/hdlgraphslam/map2odompublisher.py", line 15, in exec(compile(fh.read(), pythonscript, 'exec'), context) File "/home/kimjaen/vuasrlws/src/hdlgraphslam/src/hdlgraphslam/map2odompublisher.py", line 48, in main() File "/home/kimjaen/vuasrlws/src/hdlgraphslam/src/hdlgraphslam/map2odompublisher.py", line 45, in main rate.sleep() File "/opt/ros/noetic/lib/python3/dist-packages/rospy/timer.py", line 103, in sleep sleep(self.remaining(currtime)) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/timer.py", line 165, in sleep raise rospy.exceptions.ROSInterruptException("ROS shutdown request") rospy.exceptions.ROSInterruptException: ROS shutdown request shutting down processing monitor... ... shutting down processing monitor complete done

I think it's here to watch.

"failed to find transform between base_link and ouster_link
terminate called after throwing an instance of 'tf2::LookupException'

Which part should I correct Currently, the part where the Easter sensor is attached is also connected to the baselink under the name of the Easterlink. I don't know where to start, but the Easter related topics are also being published properly, and they are also working well in the gazebo environment. Please help me what(): "ousterlink" passed to lookupTransform argument sourceframe does not exist. "